doxygen/html/Constants_8h_source.html

/****************************************************************************

 * Copyright 2006 Evan Drumwright

 * This library is distributed under the terms of the Apache V2.0

 * License (obtainable from http://www.apache.org/licenses/LICENSE-2.0).

 ****************************************************************************/


#ifndef _MOBY_CONSTANTS_H

#define _MOBY_CONSTANTS_H


#include <limits>

#include <cmath>

#include <Ravelin/Vector3d.h>

#include <Ravelin/VectorNd.h>

#include <Ravelin/Matrix3d.h>

#include <Ravelin/Pose3d.h>


namespace Moby {


// constants

const boost::shared_ptr<const Ravelin::Pose3d> GLOBAL;

const double NEAR_ZERO = std::sqrt(std::numeric_limits<double>::epsilon());

const Ravelin::Matrix3d ZEROS_3x3 = Ravelin::Matrix3d::zero();

const Ravelin::Matrix3d IDENTITY_3x3 = Ravelin::Matrix3d::identity();

const Ravelin::VectorNd EMPTY_VEC(0);


// debugging bits

const unsigned LOG_SIMULATOR = 1;

const unsigned LOG_CONSTRAINT = 2;

const unsigned LOG_DYNAMICS = 4;

const unsigned LOG_BV = 8;

const unsigned LOG_ADF = 16;

const unsigned LOG_COLDET = 32;

const unsigned LOG_COMPGEOM = 64;

const unsigned LOG_LINALG = 128;

const unsigned LOG_OPT = 256;

const unsigned LOG_DEFORM = 512;


}


#endif